Optimization and application of a flexible dual arm robot based automation system for sample preparation and measurement

Shalaka Joshi

doi:10.18453/rosdok_id00003453

Shalaka Joshi

Optimization and application of a flexible dual arm robot based automation system for sample preparation and measurement

Universität Rostock, 2021

https://doi.org/10.18453/rosdok_id00003453

Abstract: This dissertation describes the optimization of the implementation of the Yaskawa SDA10F dual-arm robot to carry out routine sample preparation tasks in a life science laboratory such that standard lab equipment can be used and the robot can replace humans in sample preparation process. The existing robot control software is changed to carry out various tasks consecutively without interruption. Robot environment and motions were optimized allowing system expansion, multiple batches of samples are made at a time, increasing throughput. The system was validated with the help of two applications.

Dissertation Freier Zugang

Titel:

Optimization and application of a flexible dual arm robot based automation system for sample preparation and measurement

Beteiligte Personen:

Shalaka Joshi[VerfasserIn]
	1250199077
Kerstin Thurow[AkademischeR BetreuerIn]
	0000-0002-3281-1065
	121586480
	University of Rostock
Heidi Fleischer[AkademischeR BetreuerIn]
	1018462961
	University of Rostock
John Wen[AkademischeR BetreuerIn]
	Rennselaer Polytechnic Institute-Troy, New York.

Beteiligte Körperschaften:

Universität Rostock[Grad-verleihende Institution]
	38329-6
Universität Rostock, Fakultät für Informatik und Elektrotechnik[Grad-verleihende Institution]
	10085032-7

Zusammenfassung:

This dissertation describes the optimization of the implementation of the Yaskawa SDA10F dual-arm robot to carry out routine sample preparation tasks in a life science laboratory such that standard lab equipment can be used and the robot can replace humans in sample preparation process. The existing robot control software is changed to carry out various tasks consecutively without interruption. Robot environment and motions were optimized allowing system expansion, multiple batches of samples are made at a time, increasing throughput. The system was validated with the help of two applications. [Englisch]

Dokumenttyp:

Dissertation

Einrichtung:

Fakultät für Informatik und Elektrotechnik

Sprache:

Englisch

Sachgruppe der DNB:

620 Ingenieurwissenschaften und Maschinenbau

621.3 Elektrotechnik, Elektronik

Veröffentlichung /
Entstehung:

Rostock: Universität Rostock

2021